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The Lexus ES has sound handling but falls short of being engaging or fun. Uncharacteristic for Lexus, the ride is on the stiff side, and the optional 18-inch wheels make it worse. The powerful 3.5-liter V6 and six-speed automatic got a good 25 mpg overall. But we find the hybrid more appealing, thanks to its combination of size and fuel economy, returning a class-leading 36 mpg overall and 44 on the highway in our tests. Inside, the quiet cabin looks good at first, but some cheap touches are apparent. The mouselike infotainment interface is distracting and convoluted. Reliability has been excellent. Automatic emergency braking and lane-departure warning are standard.

In an effort to inject more emotion into its mainstream mid-size luxury sedan, Lexus muted the qualities that made previous versions of the ES perennial winners. The 2013 ES still provides a comfy, quiet interior and gets good fuel economy. But the cosseting, easygoing nature has been dialed back with a less plush ride, cuts in interior refinement and more complicated controls. Further, despite the attempt to infuse more sportiness into the ES, it's not agile, nor is it fun to drive. However, the rear seat picked up more room, a hybrid powertrain was added and the navigation system got 3D maps. Available active safety features include adaptive cruise control, blind-spot monitoring, rear cross-traffic alert, forward-collision warning with front braking, lane-departure warning and audible front and rear park assist. We recommend going with the hybrid ES 300h with the Premium and Luxury packages, plus the optional blind-spot monitor.

The Camry-based Lexus ES 350 provides big car luxury feel in a trimmer package. It rides very well and has an extremely hushed cabin. The 2007 redesign brought a 3.5-liter V6 and six-speed automatic, continuing the Lexus tradition of seamless powertrains. Acceleration is quick and we measured a good 23 mpg overall on premium fuel. Lackluster handling means the ES is not even remotely fun to drive, thanks to overly light steering that's devoid of feedback to the driver. Inside you'll find big, plush front seats and simple controls. Headroom is tight in the back seat, though. The high rear deck makes the backup camera included with the navigation system a desirable feature. Stability control was standard.

The ES shares major components with the V6 Toyota Camry. It did just about everything well in our tests. The V6 provides powerful acceleration, the transmission shifts flawlessly, and the ride is isolated and composed. The cabin is exceptionally quiet. The front seats are amply supportive, and the rear is fine for two adults, with three being crowded. Acceleration is brisk and handling is predictable. A more powerful 3.3-liter V6 for 2004 improved acceleration and fuel economy only slightly over the previous model.